EP0215115B1 - Aircraft terrain warning system with configuration modified warning and improved mode switching - Google Patents

Aircraft terrain warning system with configuration modified warning and improved mode switching Download PDF

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Publication number
EP0215115B1
EP0215115B1 EP86902590A EP86902590A EP0215115B1 EP 0215115 B1 EP0215115 B1 EP 0215115B1 EP 86902590 A EP86902590 A EP 86902590A EP 86902590 A EP86902590 A EP 86902590A EP 0215115 B1 EP0215115 B1 EP 0215115B1
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EP
European Patent Office
Prior art keywords
warning
signal
aircraft
altitude
take
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
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EP86902590A
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German (de)
English (en)
French (fr)
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EP0215115A1 (en
EP0215115A4 (en
Inventor
Michael M. Grove
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Sundstrand Corp
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Sundstrand Data Control Inc
Sundstrand Corp
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
    • G01C5/005—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels altimeters for aircraft

Definitions

  • Ground proximity warning systems that have a terrain clearance mode which provides a pilot with a warning in the event that the aircraft should descend below a predetermined altitude above the ground are known. Examples of such systems are described in United States Patents Nos. 3,946,358, 3,944,968 and 4,030,065. Such terrain clearance warning systems are generally not used alone, but rather are used in conjunction with other warning criteria to warn the pilot of other hazardous conditions such as excessive closure rate with terrain, excessive sink rate, excessive descent after take off, excessive descent below the glide slope and descent below a preset minimum altitude to form a ground proximity warning system. These different warning criteria are often referred to as modes of operation. Not all of the modes of operation are generally enabled simultaneously, and mode switching is provided to switch to the appropriate mode or modes associated with a particular phase of flight.
  • a ground proximity warning system employing multiple warning modes is described in United States Patent No. 3,946,358.
  • the aforementioned patent discusses a negative climb after take-off mode which is activated upon take off and generates a warning if the aircraft should descend excessively before reaching seven hundred feet (213 metres) of radio altitude. Also described is the mode switching between the negative climb after take-off mode and the terrain clearance modes.
  • Other patents that disclose such warning modes and mode switching are United States Patent No.3947810, 4319218 and 4433323.
  • the above-described systems are designed for transport aircraft and utilize signals representative of landing gear and flap position to alter the warning criteria and effect mode switching.
  • flap and gear position may not be a reliable indicator of the phase of flight, particularly, in the case of military aircraft, such as, for example, the Lockheed S3-A.
  • military aircraft have different flight and operational characteristics than do transport aircraft, and additional sets of warning criteria must be provided to accommodate such aircraft and the ways in which they are operated.
  • GB-A-2139588 One dangerous flight condition warning system that has been developed specifically for highly manoeuverable aircraft such as fighter/attack aircraft is disclosed in GB-A-2139588. That Specification discloses a two-mode warning envelope in which a first mode warns of an excessive radio altitude loss during take-off into rising terrain, and a second mode warns of excessive descent rate for a given roll angle. Mode switching is in response to the aircraft attaining a predetermined altitude, but in addition the first mode is enabled only if a take-off power signal is present.
  • the system comprises a signal representing the power level of an engine of the aircraft; means responsive to the power level signal for providing a signal indicative of take-off power; and means for enabling the first mode warning only if said take-off power signal is present.
  • a ground proximity warning system with mode switching for an aircraft comprising a source of signals representing aircraft flight parameters, first warning means responsive to the flight parameter signals for generating a warning signal in accordance with a first predetermined relationship between the flight parameters; second warning means responsive to the flight parameter signals for generating a warning signal in accordance with a second predetermined relationship between the flight parameters; and mode switching means for selectively enabling one or other of the first and second warning means.
  • Means are provided for providing a time-altitude signal that is a function of altitude, other than radio altitude, of the aircraft and the length of time that the aircraft has been flying; and the mode switching means are responsive to the time-altitude signal.
  • a ground proximity warning system for aircraft comprising a source of signals representing aircraft flight parameters; a source of signals representative of the power level of at least one engine of the aircraft; first terrain clearance warning means responsive to the flight parameter signals for generating a first terrain clearance warning in accordance with a first predetermined relationship between flight parameters; second terrain clearance warning means for generating a second terrain clearance warning in accordance with a second predetermined relationship between flight parameters; and means responsive to the power level signals for providing a take-off power signal representative of take-off power being achieved;
  • the take-off power signal providing means comprises: latch means which when set by a setting input provides as an output the signal representative of take-off power; means, effective when the speed of the aircraft is less than a predetermined air speed, for providing a setting input to the latch means after a first predetermined time delay from at least one of the engines reaching take-off power; means, effective when the speed of the aircraft is at or above the predetermined air speed, for providing the setting input to the latch means after a
  • the mode switching logic of the system is to indicate whether the aircraft is in a take-off mode or in an approach mode in order to select the appropriate mode and warning criteria.
  • the take-off mode the first (take-off) set of criteria for the insufficient terrain clearance mode of operation are selected and the excessive descent after take-off mode may be enabled.
  • the modes and criteria are selected by monitoring gear position, flap position, altitude, take-off power and other flight parameters.
  • the approach mode the excessive descent after take-off mode is disabled. This is also a necessary, but not sufficient condition to enable the second set of criteria for the terrain clearance mode.
  • the mode selection logic utilizes a plurality of signals from other aircraft instruments that are obtained from a data bus 12.
  • a data bus 12 is illustrated in FIG. 1 for purposes of illustration, it should be understood that the signals could be obtained from individual instruments.
  • the signals provided by the data bus 12 for use by the circuitry of FIG. 1 and FIG.
  • the airspeed signal may be obtained, for example, from an airspeed indicator and the radio altitude from a radio altimeter, either directly or from the data bus 12.
  • the number 1 and number 2 take-off power signals may be obtained from, for example, tachometers connected to the two engines of the Lockheed S3-A aircraft or from throttle position switches. These vary to accommodate however many engines may be present in other aircraft.
  • the altitude and airspeed reference signals such as, for example, the greater or less than 100 knots (51.5 m/s) signal, the greater or less than 550 feet (168 metres) signal, the greater than 1000 feet (305 metres) signal, and the greater than 30 feet (9.1 metres) signal, the less than 200 feet (61 metres) signal, greater than 100 feet (30.5 metres) and not less than 30 feet (9.1 metres) signal can be obtained from comparators coupled to the radio altimeter and airspeed signals.
  • the no weight on wheels ( wow ) flaps down (FD) and gear down (GD) signals may be obtained from discrete circuit elements coupled to the flaps and landing gear, and the mission select signal may be obtained from a manually operable momentary switch that is actuated by the pilot before or during a tactical mission.
  • One way to obtain the time-altitude signal, or feet-seconds signal is illustrated in our European Patent Application 214272A, filed on the same date as the present Application by the same inventor.
  • the elapsed time since take off, altitude, flap and gear position, and whether or not a tactical mission has been selected are the elapsed time since take off, altitude, flap and gear position, and whether or not a tactical mission has been selected.
  • Signals representative of these parameters are monitored by a series of gates 14, 16, 18 and 20, delay circuits 22, 24 and 26, a comparator 28, inverters 30 and 32, and a latch 34.
  • the latch 34 is settable to a set condition wherein a take-off mode signal is produced at its Q output and reset to an approach mode wherein an approach mode signal appears at its Q output.
  • the take-off mode is selected if there is no weight on the wheels for 2.5 seconds by the circuitry including the delays 22 and 24, the OR gate 16 and the inverter 30.
  • the take-off mode is also selected by the gates 14, 16, the delay 24 and the inverting amplifier 32 if a mission has not been selected, the flaps are down, the gear is down, the aircraft is below 550 feet (168 metres) of radio altitude and the radio altimeter signal is valid.
  • the latter circuitry serves to enable the take-off mode during an approach, after descending below 550 feet (168 metres) with gear and flaps in landing configuration.
  • a warning cannot be generated in the take-off mode until the take-off power is applied or gear or flaps are retracted, as is discussed in a subsequent portion of the application.
  • the latch 34 is set during the above described stage of flight so that the enabled take-off warning modes can be immediately activated should take-off power be engaged during a go-around after a missed approach.
  • the approach mode is automatically selected as a function of altitude and the length of time that the aircraft has been flying by the circuitry including gates 18, 20, the comparator 28 and delay 26.
  • the selection of the approach mode occurs when the radio altitude signal is valid and none of the conditions defining a take-off mode are met, as evidenced by the output of the gate 16, and when either the time-altitude product exceeds a predetermined value as defined by a reference circuit 36 or the aircraft has exceeded a predetermined altitude. For example, if the altitude of the aircraft exceeds 1000 feet (305 metres) and the other conditions are met, the approach mode is selected by the gates 18, 20 and the delay 26. Similarly, if the time-altitude product exceeds a predetermined value, for example, 37,500 feet-seconds, (11,430 metre-seconds), the comparator 28 applies a signal to the gate 18 to select the approach mode.
  • a predetermined value for example, 37,500 feet-seconds, (11,430 metre-seconds
  • a signal representative of take-off power is provided by the system according to the invention to enable those modes in the event of a go-around after a missed approach.
  • This function is provided by logic circuitry including a latch 37, a series of gates 38, 40, 42, 44, 46, 48, 50 and 52 and delay circuits 54, 56, 58 and 60.
  • the take-off power signal is provided by the Q output of the latch 37 when the latch 37 is set.
  • the latch 37 In order to set the latch 37, the power of the two engines is monitored by the gate 38, and in the event that either engine is operating at take-off power, and the aircraft is below 550 feet (168 metres) of radio altitude, and the speed of the aircraft is in excess of 100 knots, the latch 37 is set after a two second time delay (the combined delay of the delay circuits 54 and 58). These parameters are indicative of a missed approach and enable the take-off modes for the go-around.
  • the output of delay circuit 56 is latched via the feedback to OR gate 44, thereby requiring the greater than 100 knots (51.5 m/s) condition for only 0.5 second.
  • the latch 37 is then set by the gates 44 and 46 and the delay circuit 56 via the gates 48 and 50 after the 0.5 second delay introduced by the delay circuit 58.
  • the gate 52 and the delay circuit 60 serve to reset the latch 37 when the aircraft is in the approach mode, as evidenced by the Q signal from the latch 34, or the mission select switch has been activated or the time-altitude product exceeds 37,500 feet-seconds. (11,430 metre-seconds). Also, if any one of these conditions is present, the gate 50 is disabled, and the latch 37 cannot be set.
  • a gear down latched (GD L ) signal is provided by a gate 64 when the gear down (GD) signal is present or when a latch 62 has been set by an AND gate 66 via a delay circuit 68 when both the gear is down and the aircraft is below 550 feet (168 metres) for a period of 0.5 second, the delay of the delay circuit 68.
  • the latch 62 is reset by the AND 70 via the delay circuit 72 if the aircraft is in the approach mode and above 550 feet (168 metres) of altitude for 0.5 second, the delay of the circuit 72.
  • the latch 62 serves to remember that the gear has been positioned in landing configuration during the current approach.
  • the terrain clearance warning function is provided by the circuitry illustrated in block diagram form in FIG. 2.
  • the circuitry of FIG. 2 serves to select one of two different sets of warning criteria depending on the phase of flight of the aircraft as defined by the signals obtained from the mode selection logic circuitry of FIG. 1.
  • One of two warning criteria are selected.
  • the first warning criteria are selected after take off and are illustrated in FIG. 3.
  • the envelope illustrated in FIG. 3 is dynamic in nature and assumes a particular flight profile (i.e., a constant ten feet (3.05 metre) per second climb rate over flat terrain or water). The dynamics of this warning mode will become evident in the detailed description that follows.
  • FIG. 3 is provided for illustrative purposes.
  • This mode of operation is enabled by a series of gates 74, 76, 78, 80 and 82.
  • the gate 76 enables the gate 78 only when the weight has been off the wheels for two seconds as defined by a delay circuit 84, and the radio altitude signal is valid, and the aircraft has exceeded 100 feet (30.5 metres) above the ground without subsequently going to less than 30 feet (9.1 metres) above the ground and either the landing gear is up or the flaps are up or take-off power has been engaged.
  • the gear up (GU) and flaps up (FU) signals are obtained by inverting the GD and FD signals with a pair of inverters 85 and 86. Also, for the gate 76 to be enabled, the conditions for selecting the second set of terrain clearance criteria cannot be met, as will be discussed in a subsequent portion of the specification.
  • a long term filter (15 second time constant) 88 is enabled by the gate 76.
  • the filter 88 is charged by the output of a track and hold circuit 90 which receives a scaled radio altitude signal from a scaling circuit 92.
  • the scaling factor K is selected to be 0.75 and thus, the radio altitude signal is multiplied by 0.75 by the scaling circuit 92.
  • a comparator 94 compares the output of the scaling circuit 92 with the output of the filter 88 and controls the track and hold circuit 90 in accordance with the comparison. If the output of the scaling circit 92 is greater than the output of the filter 88, the track and hold circuit operates in a track mode.
  • the track and hold circuit 90 is switched to a hold mode of operation.
  • the filter 88 can only charge in the positive direction, and the only way the output of the filter 88 can be reduced is by resetting the filter 88 via the gate 76.
  • the output of filter 88 is applied to the limiter 72, which limits its output to greater than zero and less than a value that is a function of airspeed which is also on input to limiter 72.
  • the maximum altitude at which a warning may be generated is increased, preferably linearly, as a function of airspeed from 350 feet (107 metres) at 215 knots (111 m/s) to 700 feet (213 metres) at 275 knots (142 m/s) and above.
  • the output of the limiter 72 is limited as function of the airspeed of the aircraft to 350 feet (107 metres) at less than 215 knots (111 m/s), expanding to 700 feet (213 metres) at a greater than 275 knots (142 m/s).
  • This output reflects a filtered function of 75 percent of the aircraft's altitude above the ground during the take-off stage of flight and up to such a time as the value reaches a limit which is a function of airspeed.
  • This output is compared with the radio altitude by a comparator 91. If the relationship between the output of the limiter 72 and radio altitude is such that the radio altitude signal is less than the output of the limiter 72, thus indicating that the envelope illustrated by FIG. 3 has been penetrated, then an enabling signal is applied to the AND gate 78.
  • a "TOO LOW TERRAIN" warning will be generated by a warning generator 93 after a 0.8 second delay introduced by a delay circuit 95.
  • the "TOO LOW TERRAIN” signal will be applied either directly or indirectly to a transducer such as a loudspeaker 96 to provide an aural warning to the pilot.
  • a comparator 98 compares the output of the limiter 72 with its input, and if its input should exceed its output, thus indicating that the limiter 72 is in limiting, the comparator 98 will generate a greater than LIM signal to cause the circuit to switch to the second set of criteria.
  • the second set of warning criteria are illustrated in FIG. 4, and are used during the approach, cruise and mission selected, or tactical, phases of flight.
  • the second warning criteria are defined by a function generator 100, comparators 102, 104 and 106, and gates 108, 109, 110, 112, 114, 116, 118 and 120. Which of the two warning criteria are selected is determined by a latch 122, gates 124, 126 and a pair of delay circuits 130 and 132.
  • the latch 122 is set in order to select the warning criteria illustrated in FIG. 4 by the gates 124 and 126 if the approach mode signal (from FIG. 1) is present and either the greater than LIM signal or the mission select signal is present for at least 0.1 second, the delay time of the delay circuit 130.
  • the airspeed signal is applied to the function generator 100 via a switch which is closed only when the flaps are up.
  • the airspeed signal is operated on by the function generator 100 and applied to the three comparators 102, 104 and 106 which compare the signal from the function generator 100 with the radio altitude, a signal representative of 350 feet (107 metres) of radio altitude and a signal representative of 200 feet (61 metres) of radio altitude, respectively.
  • These altitude references correspond to the 200 and 350 foot (61 and 107 metre) altitude warning boundaries illustrated by the warning boundaries 141 and 143 in FIG. 4, and serve to distinguish between the "TOO LOW TERRAIN", “TOO LOW GEAR" and "TOO LOW FLAP" warning messages.
  • the radio altitude signal when compared with the output of function generator 100, determines if any of the warnings listed above is to be activated.
  • the outputs 104 and 106 are connected to the gates 110 and 112 which cooperate with the gates 114 and 116 to select the appropriate warning to be given.
  • the output of the gate 114 is connected to a "TOO LOW GEAR" warning generator 144 via a 0.8 second delay circuit 146.
  • the output of the gate 116 is connected to a "TOO LOW FLAPS” generator 148 via a 0.8 second delay 150.
  • the gates 108, 109, 110, 112, 80 and 82 cooperate to generate the "TOO LOW TERRAIN" warning if the aircraft is flying above 30 feet (9.1 metres) of radio altitude, there is no weight on the wheels, the radio altitude signal is valid and the gear and flaps are up whenever the envelope defined by the lines 145 and 147 of FIG. 4 is penetrated.
  • the "TOO LOW TERRAIN" warning will be generated. This operation is controlled by the gates 128, 118, 80 and 82. If the aforementioned conditions are met, but the landing gear is down and the flaps are up, the "TOO LOW TERRAIN" warning will be initiated by the gate 120 in cooperation with the gates 80 and 82 at a higher altitude, for example, if the aircraft drops below 200 feet (61 metres).
  • the circuit of FIG. 5 includes a minimums set device 150, which may be manually set in the cockpit, and which may take the form of a radio altimeter bug, and a minimums comparator 152 which compares the radio altitude with the preset minimum and generates an output whenever the aircraft drops below the minimum setting.
  • the altitude of the minimums comparator is used to control a "MINIMUMS, MINIMUMS" warning generator 154 that generates the minimums warning and applies it, either directly or indirectly, to the transducer 96 (FIG. 2).
  • the aircraft in order to avoid such nuisance warnings, in order for the gate 164 to be enabled, the aircraft must be between 30 and 1000 feet (9.1 and 305 metres) above the ground, and there must be no weight on the wheels, and the landing gear must be down and the aircraft must be in the approach mode, the approach mode signal being applied to the gate 164 via an OR gate 166.
  • the logic circuitry of FIG. 1 switches to the take-off mode while the aircraft is still on an approach to permit the take-off modes to be enabled during a go-around after a missed approach, and when this occurs, the gate 164 is inhibited.
  • the approach mode signal is ORed with the output of an AND gate 168 which receives signals representative of flap and gear position and take-off power.
  • the gate 164 is maintained enabled. However, should the pilot either raise the flaps or the gear or engage take-off power, the gate 164 would be disabled to avoid the nuisance warning.
  • the system illustrated in FIG. 6 will be briefly discussed in order to illustrate its operation in conjunction with the mode switching circuitry previously discussed.
  • the system illustrated in FIG. 6 utilizes signals representative of radio altitude, barometric altitude, barometric altitude rate, signals representative of the positions of the flaps and landing gear, signals representative of take-off power and whether the aircraft is in the take-off mode, a signal indicating whether there is any weight on the wheels and various validity signals.
  • These signals can be obtained from the circuitry of FIG. 1 and/or from individual instruments such as a barometric altimeter 212 and a barometric altitude rate circuit 214.
  • a vertical velocity signal such as the Z-velocity signal from an inertial navigation signal may be used to provide the altitude rate signal instead of the barometric rate circuit.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Emergency Alarm Devices (AREA)
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EP86902590A 1985-02-22 1986-02-21 Aircraft terrain warning system with configuration modified warning and improved mode switching Expired EP0215115B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US70434885A 1985-02-22 1985-02-22
US704348 1985-02-22

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EP0215115A1 EP0215115A1 (en) 1987-03-25
EP0215115A4 EP0215115A4 (en) 1987-07-06
EP0215115B1 true EP0215115B1 (en) 1992-08-12

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US (1) US4987413A (fi)
EP (1) EP0215115B1 (fi)
JP (1) JPS62500201A (fi)
AU (1) AU5696186A (fi)
CA (1) CA1243119A (fi)
DE (1) DE3686382T2 (fi)
FI (1) FI864241A0 (fi)
IL (1) IL77860A0 (fi)
WO (1) WO1986005021A1 (fi)

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CA1234417A (en) * 1983-05-13 1988-03-22 Noel S. Paterson System for alerting a pilot of a dangerous flight profile during low level maneuvering
US4551723A (en) * 1983-06-10 1985-11-05 Sundstrand Data Control, Inc. Excessive descent rate warning system for rotary wing aircraft
US4675823A (en) * 1983-12-09 1987-06-23 Sundstrand Data Control, Inc. Ground proximity warning system geographic area determination

Also Published As

Publication number Publication date
FI864241A (fi) 1986-10-20
EP0215115A1 (en) 1987-03-25
EP0215115A4 (en) 1987-07-06
WO1986005021A1 (en) 1986-08-28
FI864241A0 (fi) 1986-10-20
AU5696186A (en) 1986-09-10
DE3686382T2 (de) 1993-03-04
IL77860A0 (en) 1986-09-30
US4987413A (en) 1991-01-22
DE3686382D1 (de) 1992-09-17
CA1243119A (en) 1988-10-11
JPS62500201A (ja) 1987-01-22

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